// Copyright (c) 2018, Bosch Software Innovations GmbH.
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#include <gmock/gmock.h>

#include <memory>

#include <OgreEntity.h>

#include "rviz_default_plugins/displays/marker/markers/points_marker.hpp"

#include "../../../scene_graph_introspection.hpp"
#include "markers_test_fixture.hpp"
#include "../marker_messages.hpp"

using namespace ::testing;  // NOLINT

TEST_F(MarkersTestFixture, setMessage_makes_the_point_cloud_node_invisible_if_invalid_transform) {
  marker_ = makeMarker<rviz_default_plugins::displays::markers::PointsMarker>();
  EXPECT_CALL(*frame_manager_, transform(_, _, _, _, _)).WillOnce(Return(false));  // NOLINT

  marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::POINTS));

  auto point_cloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());
  EXPECT_FALSE(point_cloud->isVisible());
}

TEST_F(MarkersTestFixture, setMessage_sets_points_correctly) {
  marker_ = makeMarker<rviz_default_plugins::displays::markers::PointsMarker>();
  mockValidTransform();

  marker_->setMessage(createMessageWithPoints(visualization_msgs::msg::Marker::SPHERE_LIST));

  auto point_cloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());
  float expected_bounding_radius = 2.236068f;
  EXPECT_TRUE(point_cloud->isVisible());
  EXPECT_THAT(point_cloud->getBoundingRadius(), FloatEq(expected_bounding_radius));
}

TEST_F(MarkersTestFixture, setMessage_sets_position_and_orientation_correctly) {
  marker_ = makeMarker<rviz_default_plugins::displays::markers::PointsMarker>();
  mockValidTransform();

  marker_->setMessage(createMessageWithPoints(visualization_msgs::msg::Marker::CUBE_LIST));

  EXPECT_THAT(marker_->getPosition(), Vector3Eq(Ogre::Vector3(0, 1, 0)));
  EXPECT_THAT(marker_->getOrientation(), QuaternionEq(Ogre::Quaternion(0, 0, 1, 0)));
}

TEST_F(MarkersTestFixture, setMessage_sets_single_color_correctly) {
  marker_ = makeMarker<rviz_default_plugins::displays::markers::PointsMarker>();
  mockValidTransform();

  marker_->setMessage(createMessageWithPoints(visualization_msgs::msg::Marker::SPHERE_LIST));
  auto point_cloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());

  Ogre::ColourValue expected_color(0.0f, 1.0f, 1.0f, 1.0f);
  EXPECT_THAT(point_cloud->getPoints()[0].color, Eq(expected_color));
  EXPECT_THAT(point_cloud->getPoints()[1].color, Eq(expected_color));
}

TEST_F(MarkersTestFixture, setMessage_sets_per_point_color_correctly) {
  marker_ = makeMarker<rviz_default_plugins::displays::markers::PointsMarker>();
  mockValidTransform();

  marker_->setMessage(createMessageWithColorPerPoint(visualization_msgs::msg::Marker::POINTS));
  auto point_cloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());

  EXPECT_THAT(point_cloud->getPoints()[0].color, Eq(Ogre::ColourValue(1.0f, 0.0f, 0.5f, 0.5f)));
  EXPECT_THAT(point_cloud->getPoints()[1].color, Eq(Ogre::ColourValue(0.5f, 0.6f, 0.0f, 0.3f)));
}
